Update some parameters
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@ -11,7 +11,7 @@ pos_top = zeros(6, 3);
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alpha_b = BP.leg.ang*deg2rad; % angle de décalage par rapport à 120 deg (pour positionner les supports bases)
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alpha_t = TP.leg.ang*deg2rad; % +- offset angle from 120 degree spacing on top
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height = (stewart.h-BP.thickness-TP.thickness-Leg.sphere.bottom-Leg.sphere.top-SP.thickness.bottom-SP.thickness.top)*0.001; % 2 meter height in home configuration
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height = (stewart.h-BP.thickness-TP.thickness-Leg.sphere.bottom-Leg.sphere.top-SP.thickness.bottom-SP.thickness.top)*0.001; % TODO
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radius_b = BP.leg.rad*0.001; % rayon emplacement support base
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radius_t = TP.leg.rad*0.001; % top radius in meters
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@ -86,5 +86,6 @@ end
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M_pos_base = pos_base + (height+(TP.thickness+Leg.sphere.top+SP.thickness.top+stewart.jacobian)*1e-3)*[zeros(6, 2),ones(6, 1)];
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%% Compute Jacobian Matrix
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J = getJacobianMatrix(leg_vectors, M_pos_base);
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aa = pos_top_tranform + (stewart.jacobian - TP.thickness - SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)];
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J = getJacobianMatrix(leg_vectors', aa');
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@ -2,7 +2,7 @@
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stewart = struct();
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stewart.h = 350; % Total height of the platform [mm]
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stewart.jacobian = 174.5; % Point where the Jacobian is computed => Center of rotation [mm]
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stewart.jacobian = 0; % Point where the Jacobian is computed => Center of rotation [mm]
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%% Bottom Plate
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BP = struct();
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@ -40,7 +40,7 @@ Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
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Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
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Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
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Leg.m = TP.density*((2*pi*TP.rad.ext/1000)*(TP.thickness/1000)-(2*pi*TP.rad.int/1000)*(TP.thickness/1000))/6; % TODO [kg/m^3]
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Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg]
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Leg = updateDamping(Leg);
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@ -61,7 +61,7 @@ SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
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SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
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SP.rad.bottom = Leg.sphere.bottom; % [mm]
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SP.rad.top = Leg.sphere.top; % [mm]
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SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % [kg]
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SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg]
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SP = updateDamping(SP);
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